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<div class="title">D:/Workspace/Arduino/prencar/Configuration.cpp</div>  </div>
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<a href="_configuration_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="preprocessor">#include &quot;<a class="code" href="_configuration_8h.html">Configuration.h</a>&quot;</span>
<a name="l00002"></a>00002 
<a name="l00003"></a>00003 <a class="code" href="class_configuration.html">Configuration</a> <a class="code" href="class_configuration.html#a33a4ec5f460471c076a0b74b48aa7bbe" title="Static reference to the singleton object.">Configuration::_instance</a>; 
<a name="l00004"></a>00004 <span class="keywordtype">boolean</span> <a class="code" href="class_configuration.html#a30bcffe1c1a3b15d41d824f9a1570bf6">Configuration::_instanceCreated</a> = <span class="keyword">false</span>;
<a name="l00005"></a>00005 
<a name="l00006"></a>00006 byte <span class="keyword">const</span> <a class="code" href="class_configuration.html#a4ac462aa12ad49539d33d3ea718805c6" title="Returns the version of the configuration (number will be increased after a set of new configuration v...">Configuration::_CONFIGURATIONVERSION</a> = 4; 
<a name="l00007"></a>00007 <span class="keywordtype">long</span> <span class="keyword">const</span> <a class="code" href="class_configuration.html#a7e97b2bad64cee71271070bde2f71b74" title="Defines the serial data rate.">Configuration::_SERIALSPEED</a> = 9600; 
<a name="l00008"></a>00008 
<a name="l00013"></a><a class="code" href="class_configuration.html#ae327d26e81014cf46b25802478fe9b8e">00013</a> <a class="code" href="class_configuration.html">Configuration</a>* <a class="code" href="class_configuration.html#ae327d26e81014cf46b25802478fe9b8e">Configuration::getInstance</a>()
<a name="l00014"></a>00014 {
<a name="l00015"></a>00015   <span class="keywordflow">if</span> ( !<a class="code" href="class_configuration.html#a30bcffe1c1a3b15d41d824f9a1570bf6">_instanceCreated</a> ){
<a name="l00016"></a>00016     <a class="code" href="class_configuration.html#a33a4ec5f460471c076a0b74b48aa7bbe" title="Static reference to the singleton object.">_instance</a> = <a class="code" href="class_configuration.html#a779947337bf652f0e773cb29f37f14ba">Configuration</a>();
<a name="l00017"></a>00017     <a class="code" href="class_configuration.html#a30bcffe1c1a3b15d41d824f9a1570bf6">_instanceCreated</a> = <span class="keyword">true</span>;
<a name="l00018"></a>00018   }
<a name="l00019"></a>00019   <span class="keywordflow">return</span> &amp;<a class="code" href="class_configuration.html#a33a4ec5f460471c076a0b74b48aa7bbe" title="Static reference to the singleton object.">_instance</a>;
<a name="l00020"></a>00020 }
<a name="l00021"></a>00021 
<a name="l00022"></a><a class="code" href="class_configuration.html#a779947337bf652f0e773cb29f37f14ba">00022</a> <a class="code" href="class_configuration.html#a779947337bf652f0e773cb29f37f14ba">Configuration::Configuration</a>(){
<a name="l00023"></a>00023   <span class="comment">//set default values</span>
<a name="l00024"></a>00024   <span class="comment">//-----------------------------------</span>
<a name="l00025"></a>00025   <span class="comment">//GENERAL CONFIG VALUES</span>
<a name="l00026"></a>00026   <a class="code" href="class_configuration.html#a129f685bdf9dfa543433ffe33b934b9f">movePwmLeftPin</a> = 2;
<a name="l00027"></a>00027   <a class="code" href="class_configuration.html#ad384a39f446ac53af0e2ca60ea31544b">movePwmRightPin</a> = 3;
<a name="l00028"></a>00028   <a class="code" href="class_configuration.html#af7126167dea89663242c034a2133aa9a">moveModeFirstLeftPin</a> = 23;
<a name="l00029"></a>00029   <a class="code" href="class_configuration.html#a234d8d0b9c26332de99736c7025029c1">moveModeSecondLeftPin</a> = 22;
<a name="l00030"></a>00030   <a class="code" href="class_configuration.html#a36f12a77b8aad1e079eaf6f30f4b2f97">moveModeFirstRightPin</a> = 25;
<a name="l00031"></a>00031   <a class="code" href="class_configuration.html#af2d3235df12d5a5e65da57d018d90e9a">moveModeSecondRightPin</a> = 24;
<a name="l00032"></a>00032 
<a name="l00033"></a>00033   <a class="code" href="class_configuration.html#a09d83c2f3c4485fd864bf998e62788d7">lineFollowLeftSensorPin</a> = A5;
<a name="l00034"></a>00034   <a class="code" href="class_configuration.html#a254b7ac19c994603776d47645235a132">lineFollowRightSensorPin</a> = A4;
<a name="l00035"></a>00035   <a class="code" href="class_configuration.html#a683b496d15eca4addb13325d9707abcf">lineFollowLeftFrontSensorPin</a> = A6;
<a name="l00036"></a>00036   <a class="code" href="class_configuration.html#ab8d7a8d9f62cfafe082cc32915ef4bfa">lineFollowRightFrontSensorPin</a> = A7;
<a name="l00037"></a>00037 
<a name="l00038"></a>00038   <a class="code" href="class_configuration.html#a795f86091deeb53575bf3818eeaf0071" title="Hardware pin to which the end switch is attached.">liftCubeSwitchPin</a> = 27;
<a name="l00039"></a>00039   <a class="code" href="class_configuration.html#a25401bc6511b005d70f71e4b72f71c03" title="The pin where the servo motor of the hoist is connected to.">liftCubePwmPin</a> = 4;
<a name="l00040"></a>00040 
<a name="l00041"></a>00041   <a class="code" href="class_configuration.html#a64566ef4e13d578a41614a643acfdd51" title="The pin where the left bottom distance sensor is connected to.">cubeApproachLeftBottomSensor</a> = A0;
<a name="l00042"></a>00042   <a class="code" href="class_configuration.html#a5c4874ad8b2a3f5888a0c69fbbb2bb8b" title="The pin where the left top distance sensor is connected to.">cubeApproachLeftTopSensor</a> = A1;
<a name="l00043"></a>00043   <a class="code" href="class_configuration.html#a87c9f78ce74ac840afac408a4d321cf1" title="The pin where the right bottom distance sensor is connected to.">cubeApproachRightBottomSensor</a> = A2;
<a name="l00044"></a>00044   <a class="code" href="class_configuration.html#ae0ce367a5bec000ca27cd7c80117646d" title="The pin where the right top distance sensor is connected to.">cubeApproachRightTopSensor</a> = A3;
<a name="l00045"></a>00045   
<a name="l00046"></a>00046   <a class="code" href="class_configuration.html#adeabc14547cb44f6d6f567ca99357796" title="Analog input pin on which the battery voltage is measured.">accuPin</a> = A8;
<a name="l00047"></a>00047 
<a name="l00048"></a>00048   <span class="comment">//-----------------------------------</span>
<a name="l00049"></a>00049   <span class="comment">//GENERAL CONFIG VALUES</span>
<a name="l00050"></a>00050   <a class="code" href="class_configuration.html#aa3d031d7c37b044ad2fa4558fc4d3c3b" title="Filter that shall be applied to all outgoing messages (over serial interface).">messageFilterLevel</a> = 99;
<a name="l00051"></a>00051   <a class="code" href="class_configuration.html#a60b33a8e5b22cd2a2d4da9e4f2195269" title="True if _messageFilterLevel shall be taken into account.">activateMessageFilter</a> = <span class="keyword">true</span>; 
<a name="l00052"></a>00052   <a class="code" href="class_configuration.html#aca67601e35566058e2bca41b7188469e" title="Time in milliseconds to wait before each main loop starts. Can be used for debug purposes.">doJobDelay</a> = 0;
<a name="l00053"></a>00053   <a class="code" href="class_configuration.html#ab86a9d57799e36b0b985ad3b2e3bbfcd" title="Threshold value from black to white.">whiteThresholdLineSensors</a> = 300;
<a name="l00054"></a>00054   <a class="code" href="class_configuration.html#a3f838139ddbf2105d77dd7992407058f" title="See lineFollowWhiteThresholdLineSensors.">whiteThresholdFrontSensors</a> = 300; 
<a name="l00055"></a>00055 
<a name="l00056"></a>00056   <span class="comment">//-----------------------------------</span>
<a name="l00057"></a>00057   <span class="comment">//LINE FOLLOW</span>
<a name="l00058"></a>00058   <a class="code" href="class_configuration.html#aa799e7ed6a4722085506a31c051bf103" title="Interval in milliseconds in which the line follow job shall be executed.">lineFollowInterval</a> = 10;
<a name="l00059"></a>00059   <a class="code" href="class_configuration.html#a24e118088874b8f9d56bcaf245f1461d" title="The initial speed of the left motor when the parcours starts (0-255).">lineFollowInitialSpeedLeft</a> = 180;
<a name="l00060"></a>00060   <a class="code" href="class_configuration.html#aabc113e529eb659768ca98f15d3952a3" title="The initial speed of the left motor when the parcours starts (0-255).">lineFollowInitialSpeedRight</a> = 180;
<a name="l00061"></a>00061   <a class="code" href="class_configuration.html#aabaf837f8816911a6d0b1e8cd7867cb9">lineFollowKp</a> = 20;
<a name="l00062"></a>00062   <a class="code" href="class_configuration.html#aad2572d8c68520c2ef6613d29f38a9cf">lineFollowKd</a> = 150;
<a name="l00063"></a>00063   <a class="code" href="class_configuration.html#a049b8264eb2ab78dd89a7332008912a5" title="The reduced speed of the left motor that can be assigned after a defined amount of time (0-255)...">lineFollowReducedSpeedLeft</a> = 130;
<a name="l00064"></a>00064   <a class="code" href="class_configuration.html#a357c494e08ca9c933550bb64ec997cbb" title="See lineFollowReducedSpeedLeft.">lineFollowReducedSpeedRight</a> = 130;
<a name="l00065"></a>00065   <a class="code" href="class_configuration.html#ac03d06e3aa3a299981f60bd9429d6849" title="The time in milliseconds (after a call to LineFollow::startIt()) on the first line after which the li...">lineFollowReduceSpeedTimeFirstLine</a> = 2500;
<a name="l00066"></a>00066   <a class="code" href="class_configuration.html#a7b35d7c77230da94fe0fe12904974371" title="The time in milliseconds (after a call to LineFollow::startIt()) on the second line after which the l...">lineFollowReduceSpeedTimeSecondLine</a> = 500;
<a name="l00067"></a>00067   <a class="code" href="class_configuration.html#a03ba79c747a491d0ded2aa0ddfad1cf2" title="The time in milliseconds (after a call to LineFollow::startIt()) on the third line and after the cube...">lineFollowReduceSpeedTimeThirdLineToFinish</a> = 500;
<a name="l00068"></a>00068   <a class="code" href="class_configuration.html#a9ef6ba2bfd04ec756c58207799f1b9ab" title="Milliseconds (after a call to LineFollow::startIt()) after which the front line sensors shall be acti...">lineFollowActivateFrontSensorOffset</a> = 500;
<a name="l00069"></a>00069 
<a name="l00070"></a>00070   <span class="comment">//-----------------------------------</span>
<a name="l00071"></a>00071   <span class="comment">//LINE CENTER</span>
<a name="l00072"></a>00072   <a class="code" href="class_configuration.html#a38df8bfaaee037f566990d464bd25904" title="Interval in milliseconds in which the line centering job shall be executed.">lineCenterInterval</a> = 15;
<a name="l00073"></a>00073   <a class="code" href="class_configuration.html#aebf76a63207191515e8fc7a61ae6b51e" title="During line centering a value below this difference will mean, that the line centering process is fin...">lineCenterLineInMiddleDifference</a> = 280;
<a name="l00074"></a>00074   <a class="code" href="class_configuration.html#a2ad74fa43a9a580b64d7720fb89ca38b" title="The speed of both motors while driving straight during the line centering.">lineCenterStraightSpeed</a> = 150;
<a name="l00075"></a>00075   <a class="code" href="class_configuration.html#a249647d370af85b1840c04137c766615" title="The speed of the left motor during the line centering process if the car is reaching the line from th...">lineCenterFromLeftMotorLeft</a> = 180;
<a name="l00076"></a>00076   <a class="code" href="class_configuration.html#aca327c9b82e6e4bdb9f311e184f2dbc3" title="The speed of the right motor during the line centering process if the car is reaching the line from t...">lineCenterFromLeftMotorRight</a> = 40;
<a name="l00077"></a>00077   <a class="code" href="class_configuration.html#a42e5b6bb3d04f2591500fdd60221c087" title="The speed of the left motor during the line centering process if the car is reaching the line from th...">lineCenterFromRightMotorLeft</a> = 40;
<a name="l00078"></a>00078   <a class="code" href="class_configuration.html#a56bd213c8cf180715cd6d585187e76d3" title="The speed of the right motor during the line centering process if the car is reaching the line from t...">lineCenterFromRightMotorRight</a> = 180;
<a name="l00079"></a>00079   <a class="code" href="class_configuration.html#aa7231458f16484140c8e08b5aa81a009" title="The duration while the car during the correction is driving backwards.">lineCenterDriveBackDuration</a> = 500;
<a name="l00080"></a>00080 
<a name="l00081"></a>00081   <span class="comment">//-----------------------------------</span>
<a name="l00082"></a>00082   <span class="comment">//LIFT CUBE</span>
<a name="l00083"></a>00083   <a class="code" href="class_configuration.html#af6652efed17691fef4fa435e38c1642f" title="Pwm value to set if the hoist has to be moved up fully.">liftCubeUpPosition</a> = 26;
<a name="l00084"></a>00084   <a class="code" href="class_configuration.html#ac8a8b2bf842c6559c30c11436eff5c83" title="Pwm value to set if the hoist has to be moved up fully.">liftCubeDownPosition</a> = 47;
<a name="l00085"></a>00085   <a class="code" href="class_configuration.html#a3c887c3a7f7aa88ee549c81a62cf1c9c" title="Time in milliseconds between the liftDown and the liftUp command of the method LiftCube::liftCube()">liftCubeDownUpDuration</a> = 700;
<a name="l00086"></a>00086   <a class="code" href="class_configuration.html#af69fe1dd7d85d1b7b1772f5abfc1ab54" title="Time for which the motors shall &quot;rotate&quot; backwards with the speed set in liftCubeStopSpeed.">liftCubeStopDuration</a> = 350;
<a name="l00087"></a>00087   <a class="code" href="class_configuration.html#ace271e960cae68a452d5330d0af7d46a" title="The speed for the stop action which is performed after the cube lifting process has started...">liftCubeStopSpeed</a> = 130;
<a name="l00088"></a>00088 
<a name="l00089"></a>00089   <span class="comment">//-----------------------------------</span>
<a name="l00090"></a>00090   <span class="comment">//CURVE</span>
<a name="l00091"></a>00091   <a class="code" href="class_configuration.html#aa88d485a2c671d043ff03b8222f3d880" title="Duration of the stop action.">curveStopDuration</a> = 500;
<a name="l00092"></a>00092   <a class="code" href="class_configuration.html#a6478e762e926dc1a0a534f158b50d0d1" title="This value defines the speed that shall be set to both motors during a stop that has to stop the car ...">curveStopSpeed</a> = 130;
<a name="l00093"></a>00093   <a class="code" href="class_configuration.html#aa2238d49c21c52f8e86ff0ac80aff034" title="Interval in milliseconds in which the curve job shall be executed.">curveInterval</a> = 0;
<a name="l00094"></a>00094   <a class="code" href="class_configuration.html#affa93f2156dbf8041bf4b8084051cd83" title="The speed of the slower motor (in a left curve, left motor) during a 90° curve. This value can go fro...">curveSpeedSlowMotor</a> = 10;
<a name="l00095"></a>00095   <a class="code" href="class_configuration.html#a01c64f5ae58a66ab565936b67bbb2b58" title="The speed of the faster motor (in a left curve, right motor) during a 90° curve. This value can go fr...">curveSpeedFastMotor</a> = 180;
<a name="l00096"></a>00096   <a class="code" href="class_configuration.html#a74cd50271e2f063f538514163cc36223" title="The time after which the car shall drive straight again to find the line (no more curve is done)...">curveDriveStraightTime</a> = 1250;
<a name="l00097"></a>00097   <a class="code" href="class_configuration.html#adec850d0b0519d7a799841e6086a777d" title="Time in milliseconds after which the end sensor (end sensor = sensor that will recognize when the cur...">curveActivateEndSensorOffset</a> = 1500;
<a name="l00098"></a>00098 
<a name="l00099"></a>00099   <span class="comment">//-----------------------------------</span>
<a name="l00100"></a>00100   <span class="comment">//CUBE APPROACH</span>
<a name="l00101"></a>00101   <a class="code" href="class_configuration.html#a90bbb5bb0965db13214cd9f383d7c96f" title="If set to true the top sensors are taken into account during the cube approach process.">cubeApproachUseTopSensors</a> = <span class="keyword">false</span>;
<a name="l00102"></a>00102   <a class="code" href="class_configuration.html#af79ee39fe47d0ccd880559a62bdc17e7" title="The time in milliseconds (after a call to LineFollow::startIt()) on the third line after which the li...">cubeApproachLineFollowReduceSpeedTime</a> = 800;
<a name="l00103"></a>00103   <a class="code" href="class_configuration.html#a9a580fe87402bf1d5b7bc29ba9eff0c5" title="The reduced speed of the left motor that can be assigned after a defined amount of time (see cubeAppr...">cubeApproachLineFollowReducedSpeedLeft</a> = 150;
<a name="l00104"></a>00104   <a class="code" href="class_configuration.html#ae920e24aa143468fb512ffc9ac2f07e0" title="See cubeApproachLineFollowReducedSpeedLeft.">cubeApproachLineFollowReducedSpeedRight</a> = 150;
<a name="l00105"></a>00105   <a class="code" href="class_configuration.html#a31dba4b7dc79224cda66882244363829" title="Threshold for the cube detection.">cubeApproachDetectThreshold</a> = 40;
<a name="l00106"></a>00106   <a class="code" href="class_configuration.html#abab4e9ea7d056a9dbcd50dafbe24d6a0" title="Interval in milliseconds in which the distance sensors shall be checked.">cubeApproachInterval</a> = 15;
<a name="l00107"></a>00107   <a class="code" href="class_configuration.html#a9da11857b45fd2f6773dbcdfc7331b40" title="Duration in milliseconds of a turn when the cube has been detected.">cubeApproachTurnDuration</a> = 750;
<a name="l00108"></a>00108   <a class="code" href="class_configuration.html#aa284621b913e16639f3389791c5eb28a" title="Speed of slow motor during a turn when the cube has been detected. This value can be nagative...">cubeApproachTurnSpeedSlowMotor</a> = 0;
<a name="l00109"></a>00109   <a class="code" href="class_configuration.html#a38804c3d44ecfb2d0fb3946663c6cd93" title="Speed of fast motor during a turn when the cube has been detected. This value can be nagative...">cubeApproachTurnSpeedFastMotor</a> = 180;
<a name="l00110"></a>00110   <a class="code" href="class_configuration.html#a905f3bbd8e6b527a0e21092d682a4a6e" title="Speed during cube approach while the car is driving straight.">cubeApproachStraightSpeed</a> = 160;
<a name="l00111"></a>00111 
<a name="l00112"></a>00112   <span class="comment">//-----------------------------------</span>
<a name="l00113"></a>00113   <span class="comment">//MOVE BACK TO LINE</span>
<a name="l00114"></a>00114   <a class="code" href="class_configuration.html#aee51769c3d69df9f58b55107f033dad4" title="Interval in which during driving back to the line the line sensors shall be checked.">moveBackToLineInterval</a> = 0;
<a name="l00115"></a>00115   <a class="code" href="class_configuration.html#a86403c15f4b19c03c69c00a80ff3a7ae" title="Duration of the 1st turn to move / rotate the car in direction where the line is.">moveBackToLine1stTurnDuration</a> = 1750;
<a name="l00116"></a>00116   <a class="code" href="class_configuration.html#a3dc51cbab46e700385d6d4311772b7d3" title="Speed of the left motor during the 1st turn (can be a negative) in case of a left turn...">moveBackToLine1stLeftTurnLeftSpeed</a> = 0;
<a name="l00117"></a>00117   <a class="code" href="class_configuration.html#a8c6e050f962f77e3a2f5ab2865a398a0" title="Speed of the right motor during the 1st turn (can be a negative) in case of a left turn...">moveBackToLine1stLeftTurnRightSpeed</a> = 180;
<a name="l00118"></a>00118   <a class="code" href="class_configuration.html#a3270e1fdebe3b98878d7f3a02837ddb0" title="Speed of the left motor during the 1st turn (can be a negative) in case of a left turn...">moveBackToLine1stRightTurnLeftSpeed</a> = 180;
<a name="l00119"></a>00119   <a class="code" href="class_configuration.html#a03353b98be43a1f2df263b3972989a27" title="Speed of the right motor during the 1st turn (can be a negative) in case of a left turn...">moveBackToLine1stRightTurnRightSpeed</a> = 0;
<a name="l00120"></a>00120   <a class="code" href="class_configuration.html#ac0f336a0ff78c823cf2fb2cea90237ed" title="Speed of the car when it drives straight back to the line.">moveBackToLineStraightSpeed</a> = 180;
<a name="l00121"></a>00121 
<a name="l00122"></a>00122   <span class="comment">//-----------------------------------</span>
<a name="l00123"></a>00123   <span class="comment">//FINISH LINE</span>
<a name="l00124"></a>00124   <a class="code" href="class_configuration.html#ae2d894be3f0f7e276fa40ef61faff989" title="Time in milliseconds of how long the car shall drive straight to cross the finish line...">finishLineDriveOverDuration</a> = 1750;
<a name="l00125"></a>00125 
<a name="l00126"></a>00126   <span class="comment">//-----------------------------------</span>
<a name="l00127"></a>00127   <span class="comment">//SENSOR DEBUG</span>
<a name="l00128"></a>00128   <a class="code" href="class_configuration.html#a9b33a4a750145bf398c4030922784967" title="Interval in milliseconds in which the debug sensors.">sensorDebugInterval</a> = 1000;
<a name="l00129"></a>00129   <a class="code" href="class_configuration.html#a6c05aa8e21c264aab388e9532f6aa6a3" title="Time in milliseconds between reading every sensor.">sensorDebugReadGap</a> = 0;
<a name="l00130"></a>00130 }
<a name="l00131"></a>00131 
<a name="l00137"></a><a class="code" href="class_configuration.html#aecb79d09fce1b802e93a815cedd2a22e">00137</a> byte <a class="code" href="class_configuration.html#aecb79d09fce1b802e93a815cedd2a22e">Configuration::getConfigurationVersion</a>(){
<a name="l00138"></a>00138   <span class="keywordflow">return</span> <a class="code" href="class_configuration.html#a4ac462aa12ad49539d33d3ea718805c6" title="Returns the version of the configuration (number will be increased after a set of new configuration v...">_CONFIGURATIONVERSION</a>;
<a name="l00139"></a>00139 }
<a name="l00140"></a>00140 
<a name="l00145"></a><a class="code" href="class_configuration.html#a75b42e72d9a00415dfafa5d5dd8281b8">00145</a> <span class="keywordtype">long</span> <a class="code" href="class_configuration.html#a75b42e72d9a00415dfafa5d5dd8281b8">Configuration::getSerialSpeed</a>(){
<a name="l00146"></a>00146   <span class="keywordflow">return</span> <a class="code" href="class_configuration.html#a7e97b2bad64cee71271070bde2f71b74" title="Defines the serial data rate.">_SERIALSPEED</a>;
<a name="l00147"></a>00147 }
<a name="l00148"></a>00148 
<a name="l00153"></a><a class="code" href="class_configuration.html#a0b0009b5114b418831478c031372d12c">00153</a> <span class="keywordtype">void</span> <a class="code" href="class_configuration.html#a0b0009b5114b418831478c031372d12c">Configuration::getCurrentConfiguration</a>(<span class="keywordtype">long</span>* spaceForConfigValues){
<a name="l00154"></a>00154   spaceForConfigValues[0] = <a class="code" href="class_configuration.html#a4ac462aa12ad49539d33d3ea718805c6" title="Returns the version of the configuration (number will be increased after a set of new configuration v...">_CONFIGURATIONVERSION</a>;
<a name="l00155"></a>00155   spaceForConfigValues[1] = <a class="code" href="class_configuration.html#a7e97b2bad64cee71271070bde2f71b74" title="Defines the serial data rate.">_SERIALSPEED</a>;
<a name="l00156"></a>00156   spaceForConfigValues[2] = <a class="code" href="class_configuration.html#aa3d031d7c37b044ad2fa4558fc4d3c3b" title="Filter that shall be applied to all outgoing messages (over serial interface).">messageFilterLevel</a>;
<a name="l00157"></a>00157   spaceForConfigValues[3] = <a class="code" href="class_configuration.html#a60b33a8e5b22cd2a2d4da9e4f2195269" title="True if _messageFilterLevel shall be taken into account.">activateMessageFilter</a>; 
<a name="l00158"></a>00158   spaceForConfigValues[4] = <a class="code" href="class_configuration.html#aca67601e35566058e2bca41b7188469e" title="Time in milliseconds to wait before each main loop starts. Can be used for debug purposes.">doJobDelay</a>;
<a name="l00159"></a>00159   spaceForConfigValues[5] = <a class="code" href="class_configuration.html#ab86a9d57799e36b0b985ad3b2e3bbfcd" title="Threshold value from black to white.">whiteThresholdLineSensors</a>;
<a name="l00160"></a>00160   spaceForConfigValues[6] = <a class="code" href="class_configuration.html#a3f838139ddbf2105d77dd7992407058f" title="See lineFollowWhiteThresholdLineSensors.">whiteThresholdFrontSensors</a>; 
<a name="l00161"></a>00161   spaceForConfigValues[7] = <a class="code" href="class_configuration.html#aa799e7ed6a4722085506a31c051bf103" title="Interval in milliseconds in which the line follow job shall be executed.">lineFollowInterval</a>;
<a name="l00162"></a>00162   spaceForConfigValues[8] = <a class="code" href="class_configuration.html#a24e118088874b8f9d56bcaf245f1461d" title="The initial speed of the left motor when the parcours starts (0-255).">lineFollowInitialSpeedLeft</a>;
<a name="l00163"></a>00163   spaceForConfigValues[9] = <a class="code" href="class_configuration.html#aabc113e529eb659768ca98f15d3952a3" title="The initial speed of the left motor when the parcours starts (0-255).">lineFollowInitialSpeedRight</a>;
<a name="l00164"></a>00164   spaceForConfigValues[10] = <a class="code" href="class_configuration.html#aabaf837f8816911a6d0b1e8cd7867cb9">lineFollowKp</a>;
<a name="l00165"></a>00165   spaceForConfigValues[11] = <a class="code" href="class_configuration.html#aad2572d8c68520c2ef6613d29f38a9cf">lineFollowKd</a>;
<a name="l00166"></a>00166   spaceForConfigValues[12] = <a class="code" href="class_configuration.html#a049b8264eb2ab78dd89a7332008912a5" title="The reduced speed of the left motor that can be assigned after a defined amount of time (0-255)...">lineFollowReducedSpeedLeft</a>;
<a name="l00167"></a>00167   spaceForConfigValues[13] = <a class="code" href="class_configuration.html#a357c494e08ca9c933550bb64ec997cbb" title="See lineFollowReducedSpeedLeft.">lineFollowReducedSpeedRight</a>;
<a name="l00168"></a>00168   spaceForConfigValues[14] = <a class="code" href="class_configuration.html#ac03d06e3aa3a299981f60bd9429d6849" title="The time in milliseconds (after a call to LineFollow::startIt()) on the first line after which the li...">lineFollowReduceSpeedTimeFirstLine</a>;
<a name="l00169"></a>00169   spaceForConfigValues[15] = <a class="code" href="class_configuration.html#a7b35d7c77230da94fe0fe12904974371" title="The time in milliseconds (after a call to LineFollow::startIt()) on the second line after which the l...">lineFollowReduceSpeedTimeSecondLine</a>;
<a name="l00170"></a>00170   spaceForConfigValues[16] = <a class="code" href="class_configuration.html#a03ba79c747a491d0ded2aa0ddfad1cf2" title="The time in milliseconds (after a call to LineFollow::startIt()) on the third line and after the cube...">lineFollowReduceSpeedTimeThirdLineToFinish</a>;
<a name="l00171"></a>00171   spaceForConfigValues[17] = <a class="code" href="class_configuration.html#a9ef6ba2bfd04ec756c58207799f1b9ab" title="Milliseconds (after a call to LineFollow::startIt()) after which the front line sensors shall be acti...">lineFollowActivateFrontSensorOffset</a>;
<a name="l00172"></a>00172   spaceForConfigValues[18] = <a class="code" href="class_configuration.html#a38df8bfaaee037f566990d464bd25904" title="Interval in milliseconds in which the line centering job shall be executed.">lineCenterInterval</a>;
<a name="l00173"></a>00173   spaceForConfigValues[19] = <a class="code" href="class_configuration.html#aebf76a63207191515e8fc7a61ae6b51e" title="During line centering a value below this difference will mean, that the line centering process is fin...">lineCenterLineInMiddleDifference</a>;
<a name="l00174"></a>00174   spaceForConfigValues[20] = <a class="code" href="class_configuration.html#a2ad74fa43a9a580b64d7720fb89ca38b" title="The speed of both motors while driving straight during the line centering.">lineCenterStraightSpeed</a>;
<a name="l00175"></a>00175   spaceForConfigValues[21] = <a class="code" href="class_configuration.html#a249647d370af85b1840c04137c766615" title="The speed of the left motor during the line centering process if the car is reaching the line from th...">lineCenterFromLeftMotorLeft</a>;
<a name="l00176"></a>00176   spaceForConfigValues[22] = <a class="code" href="class_configuration.html#aca327c9b82e6e4bdb9f311e184f2dbc3" title="The speed of the right motor during the line centering process if the car is reaching the line from t...">lineCenterFromLeftMotorRight</a>;
<a name="l00177"></a>00177   spaceForConfigValues[23] = <a class="code" href="class_configuration.html#a42e5b6bb3d04f2591500fdd60221c087" title="The speed of the left motor during the line centering process if the car is reaching the line from th...">lineCenterFromRightMotorLeft</a>;
<a name="l00178"></a>00178   spaceForConfigValues[24] = <a class="code" href="class_configuration.html#a56bd213c8cf180715cd6d585187e76d3" title="The speed of the right motor during the line centering process if the car is reaching the line from t...">lineCenterFromRightMotorRight</a>;
<a name="l00179"></a>00179   spaceForConfigValues[25] = <a class="code" href="class_configuration.html#aa7231458f16484140c8e08b5aa81a009" title="The duration while the car during the correction is driving backwards.">lineCenterDriveBackDuration</a>;
<a name="l00180"></a>00180   spaceForConfigValues[26] = <a class="code" href="class_configuration.html#af6652efed17691fef4fa435e38c1642f" title="Pwm value to set if the hoist has to be moved up fully.">liftCubeUpPosition</a>;
<a name="l00181"></a>00181   spaceForConfigValues[27] = <a class="code" href="class_configuration.html#ac8a8b2bf842c6559c30c11436eff5c83" title="Pwm value to set if the hoist has to be moved up fully.">liftCubeDownPosition</a>;
<a name="l00182"></a>00182   spaceForConfigValues[28] = <a class="code" href="class_configuration.html#a3c887c3a7f7aa88ee549c81a62cf1c9c" title="Time in milliseconds between the liftDown and the liftUp command of the method LiftCube::liftCube()">liftCubeDownUpDuration</a>;
<a name="l00183"></a>00183   spaceForConfigValues[29] = <a class="code" href="class_configuration.html#af69fe1dd7d85d1b7b1772f5abfc1ab54" title="Time for which the motors shall &quot;rotate&quot; backwards with the speed set in liftCubeStopSpeed.">liftCubeStopDuration</a>;
<a name="l00184"></a>00184   spaceForConfigValues[30] = <a class="code" href="class_configuration.html#ace271e960cae68a452d5330d0af7d46a" title="The speed for the stop action which is performed after the cube lifting process has started...">liftCubeStopSpeed</a>;
<a name="l00185"></a>00185   spaceForConfigValues[31] = <a class="code" href="class_configuration.html#aa88d485a2c671d043ff03b8222f3d880" title="Duration of the stop action.">curveStopDuration</a>;
<a name="l00186"></a>00186   spaceForConfigValues[32] = <a class="code" href="class_configuration.html#a6478e762e926dc1a0a534f158b50d0d1" title="This value defines the speed that shall be set to both motors during a stop that has to stop the car ...">curveStopSpeed</a>;
<a name="l00187"></a>00187   spaceForConfigValues[33] = <a class="code" href="class_configuration.html#aa2238d49c21c52f8e86ff0ac80aff034" title="Interval in milliseconds in which the curve job shall be executed.">curveInterval</a>;
<a name="l00188"></a>00188   spaceForConfigValues[34] = <a class="code" href="class_configuration.html#affa93f2156dbf8041bf4b8084051cd83" title="The speed of the slower motor (in a left curve, left motor) during a 90° curve. This value can go fro...">curveSpeedSlowMotor</a>;
<a name="l00189"></a>00189   spaceForConfigValues[35] = <a class="code" href="class_configuration.html#a01c64f5ae58a66ab565936b67bbb2b58" title="The speed of the faster motor (in a left curve, right motor) during a 90° curve. This value can go fr...">curveSpeedFastMotor</a>;
<a name="l00190"></a>00190   spaceForConfigValues[36] = <a class="code" href="class_configuration.html#a74cd50271e2f063f538514163cc36223" title="The time after which the car shall drive straight again to find the line (no more curve is done)...">curveDriveStraightTime</a>;
<a name="l00191"></a>00191   spaceForConfigValues[37] = <a class="code" href="class_configuration.html#adec850d0b0519d7a799841e6086a777d" title="Time in milliseconds after which the end sensor (end sensor = sensor that will recognize when the cur...">curveActivateEndSensorOffset</a>;
<a name="l00192"></a>00192   spaceForConfigValues[38] = <a class="code" href="class_configuration.html#a90bbb5bb0965db13214cd9f383d7c96f" title="If set to true the top sensors are taken into account during the cube approach process.">cubeApproachUseTopSensors</a>;
<a name="l00193"></a>00193   spaceForConfigValues[39] = <a class="code" href="class_configuration.html#af79ee39fe47d0ccd880559a62bdc17e7" title="The time in milliseconds (after a call to LineFollow::startIt()) on the third line after which the li...">cubeApproachLineFollowReduceSpeedTime</a>;
<a name="l00194"></a>00194   spaceForConfigValues[40] = <a class="code" href="class_configuration.html#a9a580fe87402bf1d5b7bc29ba9eff0c5" title="The reduced speed of the left motor that can be assigned after a defined amount of time (see cubeAppr...">cubeApproachLineFollowReducedSpeedLeft</a>;
<a name="l00195"></a>00195   spaceForConfigValues[41] = <a class="code" href="class_configuration.html#ae920e24aa143468fb512ffc9ac2f07e0" title="See cubeApproachLineFollowReducedSpeedLeft.">cubeApproachLineFollowReducedSpeedRight</a>;
<a name="l00196"></a>00196   spaceForConfigValues[42] = <a class="code" href="class_configuration.html#a31dba4b7dc79224cda66882244363829" title="Threshold for the cube detection.">cubeApproachDetectThreshold</a>;
<a name="l00197"></a>00197   spaceForConfigValues[43] = <a class="code" href="class_configuration.html#abab4e9ea7d056a9dbcd50dafbe24d6a0" title="Interval in milliseconds in which the distance sensors shall be checked.">cubeApproachInterval</a>;
<a name="l00198"></a>00198   spaceForConfigValues[44] = <a class="code" href="class_configuration.html#a9da11857b45fd2f6773dbcdfc7331b40" title="Duration in milliseconds of a turn when the cube has been detected.">cubeApproachTurnDuration</a>;
<a name="l00199"></a>00199   spaceForConfigValues[45] = <a class="code" href="class_configuration.html#aa284621b913e16639f3389791c5eb28a" title="Speed of slow motor during a turn when the cube has been detected. This value can be nagative...">cubeApproachTurnSpeedSlowMotor</a>;
<a name="l00200"></a>00200   spaceForConfigValues[46] = <a class="code" href="class_configuration.html#a38804c3d44ecfb2d0fb3946663c6cd93" title="Speed of fast motor during a turn when the cube has been detected. This value can be nagative...">cubeApproachTurnSpeedFastMotor</a>;
<a name="l00201"></a>00201   spaceForConfigValues[47] = <a class="code" href="class_configuration.html#a905f3bbd8e6b527a0e21092d682a4a6e" title="Speed during cube approach while the car is driving straight.">cubeApproachStraightSpeed</a>;
<a name="l00202"></a>00202   spaceForConfigValues[48] = <a class="code" href="class_configuration.html#aee51769c3d69df9f58b55107f033dad4" title="Interval in which during driving back to the line the line sensors shall be checked.">moveBackToLineInterval</a>;
<a name="l00203"></a>00203   spaceForConfigValues[49] = <a class="code" href="class_configuration.html#a86403c15f4b19c03c69c00a80ff3a7ae" title="Duration of the 1st turn to move / rotate the car in direction where the line is.">moveBackToLine1stTurnDuration</a>;
<a name="l00204"></a>00204   spaceForConfigValues[50] = <a class="code" href="class_configuration.html#a3dc51cbab46e700385d6d4311772b7d3" title="Speed of the left motor during the 1st turn (can be a negative) in case of a left turn...">moveBackToLine1stLeftTurnLeftSpeed</a>;
<a name="l00205"></a>00205   spaceForConfigValues[51] = <a class="code" href="class_configuration.html#a8c6e050f962f77e3a2f5ab2865a398a0" title="Speed of the right motor during the 1st turn (can be a negative) in case of a left turn...">moveBackToLine1stLeftTurnRightSpeed</a>;
<a name="l00206"></a>00206   spaceForConfigValues[52] = <a class="code" href="class_configuration.html#a3270e1fdebe3b98878d7f3a02837ddb0" title="Speed of the left motor during the 1st turn (can be a negative) in case of a left turn...">moveBackToLine1stRightTurnLeftSpeed</a>;
<a name="l00207"></a>00207   spaceForConfigValues[53] = <a class="code" href="class_configuration.html#a03353b98be43a1f2df263b3972989a27" title="Speed of the right motor during the 1st turn (can be a negative) in case of a left turn...">moveBackToLine1stRightTurnRightSpeed</a>;
<a name="l00208"></a>00208   spaceForConfigValues[54] = <a class="code" href="class_configuration.html#ac0f336a0ff78c823cf2fb2cea90237ed" title="Speed of the car when it drives straight back to the line.">moveBackToLineStraightSpeed</a>;
<a name="l00209"></a>00209   spaceForConfigValues[55] = <a class="code" href="class_configuration.html#ae2d894be3f0f7e276fa40ef61faff989" title="Time in milliseconds of how long the car shall drive straight to cross the finish line...">finishLineDriveOverDuration</a>;
<a name="l00210"></a>00210   spaceForConfigValues[56] = <a class="code" href="class_configuration.html#a9b33a4a750145bf398c4030922784967" title="Interval in milliseconds in which the debug sensors.">sensorDebugInterval</a>;
<a name="l00211"></a>00211   spaceForConfigValues[57] = <a class="code" href="class_configuration.html#a6c05aa8e21c264aab388e9532f6aa6a3" title="Time in milliseconds between reading every sensor.">sensorDebugReadGap</a>;
<a name="l00212"></a>00212 }
<a name="l00213"></a>00213 
<a name="l00225"></a><a class="code" href="class_configuration.html#aa6f6680d35f5db5efd93770bbce644ed">00225</a> <span class="keywordtype">boolean</span> <a class="code" href="class_configuration.html#aa6f6680d35f5db5efd93770bbce644ed" title="Updates all configuration values according to the given parameters.">Configuration::updateConfiguration</a>(<span class="keywordtype">int</span>* parameters){
<a name="l00226"></a>00226   <span class="comment">//CONSTANTS will be ingored</span>
<a name="l00227"></a>00227   <span class="keywordflow">if</span>(parameters[0] != <a class="code" href="class_configuration.html#a4ac462aa12ad49539d33d3ea718805c6" title="Returns the version of the configuration (number will be increased after a set of new configuration v...">_CONFIGURATIONVERSION</a>){
<a name="l00228"></a>00228     <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00229"></a>00229   }
<a name="l00230"></a>00230 
<a name="l00231"></a>00231   <a class="code" href="class_configuration.html#aa3d031d7c37b044ad2fa4558fc4d3c3b" title="Filter that shall be applied to all outgoing messages (over serial interface).">messageFilterLevel</a> = parameters[2];
<a name="l00232"></a>00232   <a class="code" href="class_configuration.html#a60b33a8e5b22cd2a2d4da9e4f2195269" title="True if _messageFilterLevel shall be taken into account.">activateMessageFilter</a> = parameters[3];
<a name="l00233"></a>00233   <a class="code" href="class_configuration.html#aca67601e35566058e2bca41b7188469e" title="Time in milliseconds to wait before each main loop starts. Can be used for debug purposes.">doJobDelay</a> = parameters[4];
<a name="l00234"></a>00234   <a class="code" href="class_configuration.html#ab86a9d57799e36b0b985ad3b2e3bbfcd" title="Threshold value from black to white.">whiteThresholdLineSensors</a> = parameters[5];
<a name="l00235"></a>00235   <a class="code" href="class_configuration.html#a3f838139ddbf2105d77dd7992407058f" title="See lineFollowWhiteThresholdLineSensors.">whiteThresholdFrontSensors</a> = parameters[6];
<a name="l00236"></a>00236   <a class="code" href="class_configuration.html#aa799e7ed6a4722085506a31c051bf103" title="Interval in milliseconds in which the line follow job shall be executed.">lineFollowInterval</a> = parameters[7];
<a name="l00237"></a>00237   <a class="code" href="class_configuration.html#a24e118088874b8f9d56bcaf245f1461d" title="The initial speed of the left motor when the parcours starts (0-255).">lineFollowInitialSpeedLeft</a> = parameters[8];
<a name="l00238"></a>00238   <a class="code" href="class_configuration.html#aabc113e529eb659768ca98f15d3952a3" title="The initial speed of the left motor when the parcours starts (0-255).">lineFollowInitialSpeedRight</a> = parameters[9];
<a name="l00239"></a>00239   <a class="code" href="class_configuration.html#aabaf837f8816911a6d0b1e8cd7867cb9">lineFollowKp</a> = parameters[10];
<a name="l00240"></a>00240   <a class="code" href="class_configuration.html#aad2572d8c68520c2ef6613d29f38a9cf">lineFollowKd</a> = parameters[11];
<a name="l00241"></a>00241   <a class="code" href="class_configuration.html#a049b8264eb2ab78dd89a7332008912a5" title="The reduced speed of the left motor that can be assigned after a defined amount of time (0-255)...">lineFollowReducedSpeedLeft</a> = parameters[12];
<a name="l00242"></a>00242   <a class="code" href="class_configuration.html#a357c494e08ca9c933550bb64ec997cbb" title="See lineFollowReducedSpeedLeft.">lineFollowReducedSpeedRight</a> = parameters[13];
<a name="l00243"></a>00243   <a class="code" href="class_configuration.html#ac03d06e3aa3a299981f60bd9429d6849" title="The time in milliseconds (after a call to LineFollow::startIt()) on the first line after which the li...">lineFollowReduceSpeedTimeFirstLine</a> = parameters[14];
<a name="l00244"></a>00244   <a class="code" href="class_configuration.html#a7b35d7c77230da94fe0fe12904974371" title="The time in milliseconds (after a call to LineFollow::startIt()) on the second line after which the l...">lineFollowReduceSpeedTimeSecondLine</a> = parameters[15];
<a name="l00245"></a>00245   <a class="code" href="class_configuration.html#a03ba79c747a491d0ded2aa0ddfad1cf2" title="The time in milliseconds (after a call to LineFollow::startIt()) on the third line and after the cube...">lineFollowReduceSpeedTimeThirdLineToFinish</a> = parameters[16];
<a name="l00246"></a>00246   <a class="code" href="class_configuration.html#a9ef6ba2bfd04ec756c58207799f1b9ab" title="Milliseconds (after a call to LineFollow::startIt()) after which the front line sensors shall be acti...">lineFollowActivateFrontSensorOffset</a> = parameters[17];
<a name="l00247"></a>00247   <a class="code" href="class_configuration.html#a38df8bfaaee037f566990d464bd25904" title="Interval in milliseconds in which the line centering job shall be executed.">lineCenterInterval</a> = parameters[18];
<a name="l00248"></a>00248   <a class="code" href="class_configuration.html#aebf76a63207191515e8fc7a61ae6b51e" title="During line centering a value below this difference will mean, that the line centering process is fin...">lineCenterLineInMiddleDifference</a> = parameters[19];
<a name="l00249"></a>00249   <a class="code" href="class_configuration.html#a2ad74fa43a9a580b64d7720fb89ca38b" title="The speed of both motors while driving straight during the line centering.">lineCenterStraightSpeed</a> = parameters[20];
<a name="l00250"></a>00250   <a class="code" href="class_configuration.html#a249647d370af85b1840c04137c766615" title="The speed of the left motor during the line centering process if the car is reaching the line from th...">lineCenterFromLeftMotorLeft</a> = parameters[21];
<a name="l00251"></a>00251   <a class="code" href="class_configuration.html#aca327c9b82e6e4bdb9f311e184f2dbc3" title="The speed of the right motor during the line centering process if the car is reaching the line from t...">lineCenterFromLeftMotorRight</a> = parameters[22];
<a name="l00252"></a>00252   <a class="code" href="class_configuration.html#a42e5b6bb3d04f2591500fdd60221c087" title="The speed of the left motor during the line centering process if the car is reaching the line from th...">lineCenterFromRightMotorLeft</a> = parameters[23];
<a name="l00253"></a>00253   <a class="code" href="class_configuration.html#a56bd213c8cf180715cd6d585187e76d3" title="The speed of the right motor during the line centering process if the car is reaching the line from t...">lineCenterFromRightMotorRight</a> = parameters[24];
<a name="l00254"></a>00254   <a class="code" href="class_configuration.html#aa7231458f16484140c8e08b5aa81a009" title="The duration while the car during the correction is driving backwards.">lineCenterDriveBackDuration</a> = parameters[25];
<a name="l00255"></a>00255   <a class="code" href="class_configuration.html#af6652efed17691fef4fa435e38c1642f" title="Pwm value to set if the hoist has to be moved up fully.">liftCubeUpPosition</a> = parameters[26];
<a name="l00256"></a>00256   <a class="code" href="class_configuration.html#ac8a8b2bf842c6559c30c11436eff5c83" title="Pwm value to set if the hoist has to be moved up fully.">liftCubeDownPosition</a> = parameters[27];
<a name="l00257"></a>00257   <a class="code" href="class_configuration.html#a3c887c3a7f7aa88ee549c81a62cf1c9c" title="Time in milliseconds between the liftDown and the liftUp command of the method LiftCube::liftCube()">liftCubeDownUpDuration</a> = parameters[28];
<a name="l00258"></a>00258   <a class="code" href="class_configuration.html#af69fe1dd7d85d1b7b1772f5abfc1ab54" title="Time for which the motors shall &quot;rotate&quot; backwards with the speed set in liftCubeStopSpeed.">liftCubeStopDuration</a> = parameters[29];
<a name="l00259"></a>00259   <a class="code" href="class_configuration.html#ace271e960cae68a452d5330d0af7d46a" title="The speed for the stop action which is performed after the cube lifting process has started...">liftCubeStopSpeed</a> = parameters[30];
<a name="l00260"></a>00260   <a class="code" href="class_configuration.html#aa88d485a2c671d043ff03b8222f3d880" title="Duration of the stop action.">curveStopDuration</a> = parameters[31];
<a name="l00261"></a>00261   <a class="code" href="class_configuration.html#a6478e762e926dc1a0a534f158b50d0d1" title="This value defines the speed that shall be set to both motors during a stop that has to stop the car ...">curveStopSpeed</a> = parameters[32];
<a name="l00262"></a>00262   <a class="code" href="class_configuration.html#aa2238d49c21c52f8e86ff0ac80aff034" title="Interval in milliseconds in which the curve job shall be executed.">curveInterval</a> = parameters[33];
<a name="l00263"></a>00263   <a class="code" href="class_configuration.html#affa93f2156dbf8041bf4b8084051cd83" title="The speed of the slower motor (in a left curve, left motor) during a 90° curve. This value can go fro...">curveSpeedSlowMotor</a> = parameters[34];
<a name="l00264"></a>00264   <a class="code" href="class_configuration.html#a01c64f5ae58a66ab565936b67bbb2b58" title="The speed of the faster motor (in a left curve, right motor) during a 90° curve. This value can go fr...">curveSpeedFastMotor</a> = parameters[35];
<a name="l00265"></a>00265   <a class="code" href="class_configuration.html#a74cd50271e2f063f538514163cc36223" title="The time after which the car shall drive straight again to find the line (no more curve is done)...">curveDriveStraightTime</a> = parameters[36];
<a name="l00266"></a>00266   <a class="code" href="class_configuration.html#adec850d0b0519d7a799841e6086a777d" title="Time in milliseconds after which the end sensor (end sensor = sensor that will recognize when the cur...">curveActivateEndSensorOffset</a> = parameters[37];
<a name="l00267"></a>00267   <a class="code" href="class_configuration.html#a90bbb5bb0965db13214cd9f383d7c96f" title="If set to true the top sensors are taken into account during the cube approach process.">cubeApproachUseTopSensors</a> = parameters[38];
<a name="l00268"></a>00268   <a class="code" href="class_configuration.html#af79ee39fe47d0ccd880559a62bdc17e7" title="The time in milliseconds (after a call to LineFollow::startIt()) on the third line after which the li...">cubeApproachLineFollowReduceSpeedTime</a> = parameters[39];
<a name="l00269"></a>00269   <a class="code" href="class_configuration.html#a9a580fe87402bf1d5b7bc29ba9eff0c5" title="The reduced speed of the left motor that can be assigned after a defined amount of time (see cubeAppr...">cubeApproachLineFollowReducedSpeedLeft</a> = parameters[40];
<a name="l00270"></a>00270   <a class="code" href="class_configuration.html#ae920e24aa143468fb512ffc9ac2f07e0" title="See cubeApproachLineFollowReducedSpeedLeft.">cubeApproachLineFollowReducedSpeedRight</a> = parameters[41];
<a name="l00271"></a>00271   <a class="code" href="class_configuration.html#a31dba4b7dc79224cda66882244363829" title="Threshold for the cube detection.">cubeApproachDetectThreshold</a> = parameters[42];
<a name="l00272"></a>00272   <a class="code" href="class_configuration.html#abab4e9ea7d056a9dbcd50dafbe24d6a0" title="Interval in milliseconds in which the distance sensors shall be checked.">cubeApproachInterval</a> = parameters[43];
<a name="l00273"></a>00273   <a class="code" href="class_configuration.html#a9da11857b45fd2f6773dbcdfc7331b40" title="Duration in milliseconds of a turn when the cube has been detected.">cubeApproachTurnDuration</a> = parameters[44];
<a name="l00274"></a>00274   <a class="code" href="class_configuration.html#aa284621b913e16639f3389791c5eb28a" title="Speed of slow motor during a turn when the cube has been detected. This value can be nagative...">cubeApproachTurnSpeedSlowMotor</a> = parameters[45];
<a name="l00275"></a>00275   <a class="code" href="class_configuration.html#a38804c3d44ecfb2d0fb3946663c6cd93" title="Speed of fast motor during a turn when the cube has been detected. This value can be nagative...">cubeApproachTurnSpeedFastMotor</a> = parameters[46];
<a name="l00276"></a>00276   <a class="code" href="class_configuration.html#a905f3bbd8e6b527a0e21092d682a4a6e" title="Speed during cube approach while the car is driving straight.">cubeApproachStraightSpeed</a> = parameters[47];
<a name="l00277"></a>00277   <a class="code" href="class_configuration.html#aee51769c3d69df9f58b55107f033dad4" title="Interval in which during driving back to the line the line sensors shall be checked.">moveBackToLineInterval</a> = parameters[48];
<a name="l00278"></a>00278   <a class="code" href="class_configuration.html#a86403c15f4b19c03c69c00a80ff3a7ae" title="Duration of the 1st turn to move / rotate the car in direction where the line is.">moveBackToLine1stTurnDuration</a> = parameters[49];
<a name="l00279"></a>00279   <a class="code" href="class_configuration.html#a3dc51cbab46e700385d6d4311772b7d3" title="Speed of the left motor during the 1st turn (can be a negative) in case of a left turn...">moveBackToLine1stLeftTurnLeftSpeed</a> = parameters[50];
<a name="l00280"></a>00280   <a class="code" href="class_configuration.html#a8c6e050f962f77e3a2f5ab2865a398a0" title="Speed of the right motor during the 1st turn (can be a negative) in case of a left turn...">moveBackToLine1stLeftTurnRightSpeed</a> = parameters[51];
<a name="l00281"></a>00281   <a class="code" href="class_configuration.html#a3270e1fdebe3b98878d7f3a02837ddb0" title="Speed of the left motor during the 1st turn (can be a negative) in case of a left turn...">moveBackToLine1stRightTurnLeftSpeed</a> = parameters[52];
<a name="l00282"></a>00282   <a class="code" href="class_configuration.html#a03353b98be43a1f2df263b3972989a27" title="Speed of the right motor during the 1st turn (can be a negative) in case of a left turn...">moveBackToLine1stRightTurnRightSpeed</a> = parameters[53];
<a name="l00283"></a>00283   <a class="code" href="class_configuration.html#ac0f336a0ff78c823cf2fb2cea90237ed" title="Speed of the car when it drives straight back to the line.">moveBackToLineStraightSpeed</a> = parameters[54];
<a name="l00284"></a>00284   <a class="code" href="class_configuration.html#ae2d894be3f0f7e276fa40ef61faff989" title="Time in milliseconds of how long the car shall drive straight to cross the finish line...">finishLineDriveOverDuration</a> = parameters[55];
<a name="l00285"></a>00285   <a class="code" href="class_configuration.html#a9b33a4a750145bf398c4030922784967" title="Interval in milliseconds in which the debug sensors.">sensorDebugInterval</a> = parameters[56];
<a name="l00286"></a>00286   <a class="code" href="class_configuration.html#a6c05aa8e21c264aab388e9532f6aa6a3" title="Time in milliseconds between reading every sensor.">sensorDebugReadGap</a> = parameters[57];
<a name="l00287"></a>00287   <span class="keywordflow">return</span> <span class="keyword">true</span>;
<a name="l00288"></a>00288 }
<a name="l00289"></a>00289 
<a name="l00294"></a>00294 <span class="keyword">extern</span> <span class="keywordtype">int</span> <a class="code" href="_configuration_8cpp.html#ac56d62881d5ef8cb3152d3e4a697e46a">__bss_end</a>;
<a name="l00295"></a>00295 <span class="keyword">extern</span> <span class="keywordtype">void</span> *<a class="code" href="_configuration_8cpp.html#a8d18204366e8a385c441663ed41f1ae4">__brkval</a>;
<a name="l00296"></a><a class="code" href="class_configuration.html#a6ecb6e35520b0877eb8a1ccb47b577b4">00296</a> <span class="keywordtype">int</span> <a class="code" href="class_configuration.html#a6ecb6e35520b0877eb8a1ccb47b577b4">Configuration::getFreeMemory</a>()
<a name="l00297"></a>00297 {
<a name="l00298"></a>00298   <span class="keywordtype">int</span> free_memory;
<a name="l00299"></a>00299 
<a name="l00300"></a>00300   <span class="keywordflow">if</span>((<span class="keywordtype">int</span>)<a class="code" href="_configuration_8cpp.html#a8d18204366e8a385c441663ed41f1ae4">__brkval</a> == 0)
<a name="l00301"></a>00301     free_memory = ((int)&amp;free_memory) - ((int)&amp;<a class="code" href="_configuration_8cpp.html#ac56d62881d5ef8cb3152d3e4a697e46a">__bss_end</a>);
<a name="l00302"></a>00302   <span class="keywordflow">else</span>
<a name="l00303"></a>00303     free_memory = ((int)&amp;free_memory) - ((int)<a class="code" href="_configuration_8cpp.html#a8d18204366e8a385c441663ed41f1ae4">__brkval</a>);
<a name="l00304"></a>00304 
<a name="l00305"></a>00305   <span class="keywordflow">return</span> free_memory;
<a name="l00306"></a>00306 }
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